We propose a dynamic trajectory planning method for connecting consecutive waypoints of cable-driven parallel robot (CDPR) with actuation redundancy. By dividing the potential motion space of the CDPR into different parts according to their geometric configuration. It can only exploit three internal cables in a specific region without the other cables’ tension which solves the tension problem of four cables is converted to solving three cables’ tension. In this case, the cable tension can be expressed with an analytical solution. Besides, rebuilding the reference frame ensures the tension-feasible region has geometric characteristics. Additionally, the proposed method can be utilized to determine if the target point is reachable. When the end-effector cannot be moved to the target point directly, an intermediate transition point would be generated. The simulation experiments show that the proposed method has generalization performance and high efficiency. Furthermore, the proposed method is applicable to dynamic trajectory planning for CDPRs with other configurations.